From 18a1c04ba9b61d484c745b075bfbaad101629a2c Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Tue, 31 May 2011 22:34:26 +0200 Subject: digital/io-hub: add green zone width define --- digital/io-hub/src/robospierre/path.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) (limited to 'digital/io-hub/src/robospierre/path.c') diff --git a/digital/io-hub/src/robospierre/path.c b/digital/io-hub/src/robospierre/path.c index bf6c2471..61ea9293 100644 --- a/digital/io-hub/src/robospierre/path.c +++ b/digital/io-hub/src/robospierre/path.c @@ -26,7 +26,7 @@ #include "defs.h" #include "path.h" #include "bot.h" -#include "playground.h" +#include "playground_2011.h" #include "modules/path/astar/astar.h" #include "modules/utils/utils.h" @@ -213,8 +213,8 @@ path_blocking (uint8_t a, uint8_t b, int16_t *dp) path_pos (b, &vb); /* Test for green zone. */ uint8_t a_green, b_green; - a_green = va.x < 400 || va.x > PG_WIDTH - 400; - b_green = vb.x < 400 || vb.x > PG_WIDTH - 400; + a_green = va.x < PG_GREEN_WIDTH_MM || va.x > PG_WIDTH - PG_GREEN_WIDTH_MM; + b_green = vb.x < PG_GREEN_WIDTH_MM || vb.x > PG_WIDTH - PG_GREEN_WIDTH_MM; if ((va.x < BOT_GREEN_ELEMENT_PLACE_DISTANCE_MM && vb.x > BOT_GREEN_ELEMENT_PLACE_DISTANCE_MM) || (va.x > BOT_GREEN_ELEMENT_PLACE_DISTANCE_MM -- cgit v1.2.3